// ------------------------- OpenPose Library Tutorial - Real Time Pose Estimation -------------------------
// If the user wants to learn to use the OpenPose library, we highly recommend to start with the `examples/tutorial_*/` folders.
// This example summarizes all the funcitonality of the OpenPose library:
// 1. Read folder of images / video / webcam  (`producer` module)
// 2. Extract and render body keypoint / heatmap / PAF of that image (`pose` module)
// 3. Extract and render face keypoint / heatmap / PAF of that image (`face` module)
// 4. Save the results on disk (`filestream` module)
// 5. Display the rendered pose (`gui` module)
// Everything in a multi-thread scenario (`thread` module)
// Points 2 to 5 are included in the `wrapper` module
// In addition to the previous OpenPose modules, we also need to use:
// 1. `core` module:
// For the Array<float> class that the `pose` module needs
// For the Datum struct that the `thread` module sends between the queues
// 2. `utilities` module: for the error & logging functions, i.e. op::error & op::log respectively
// This file should only be used for the user to take specific examples.

// C++ std library dependencies
#include <chrono> // `std::chrono::` functions and classes, e.g. std::chrono::milliseconds
#include <thread> // std::this_thread
// Other 3rdparty dependencies
// GFlags: DEFINE_bool, _int32, _int64, _uint64, _double, _string
#include <gflags/gflags.h>
// Allow Google Flags in Ubuntu 14
#ifndef GFLAGS_GFLAGS_H_
namespace gflags = google;
#endif
// OpenPose dependencies
#include <openpose/headers.hpp>

// See all the available parameter options withe the `--help` flag. E.g. `build/examples/openpose/openpose.bin --help`
// Note: This command will show you flags for other unnecessary 3rdparty files. Check only the flags for the OpenPose
// executable. E.g. for `openpose.bin`, look for `Flags from examples/openpose/openpose.cpp:`.
// Debugging/Other
DEFINE_int32(logging_level, 3, "The logging level. Integer in the range [0, 255]. 0 will output any log() message, while"
	" 255 will not output any. Current OpenPose library messages are in the range 0-4: 1 for"
	" low priority messages and 4 for important ones.");
DEFINE_bool(disable_multi_thread, false, "It would slightly reduce the frame rate in order to highly reduce the lag. Mainly useful"
	" for 1) Cases where it is needed a low latency (e.g. webcam in real-time scenarios with"
	" low-range GPU devices); and 2) Debugging OpenPose when it is crashing to locate the"
	" error.");
DEFINE_int32(profile_speed, 1000, "If PROFILER_ENABLED was set in CMake or Makefile.config files, OpenPose will show some"
	" runtime statistics at this frame number.");
// Producer
DEFINE_int32(camera, -1, "The camera index for cv::VideoCapture. Integer in the range [0, 9]. Select a negative"
	" number (by default), to auto-detect and open the first available camera.");
DEFINE_string(camera_resolution, "1280x720", "Size of the camera frames to ask for.");
DEFINE_double(camera_fps, 30.0, "Frame rate for the webcam (only used when saving video from webcam). Set this value to the"
	" minimum value between the OpenPose displayed speed and the webcam real frame rate.");
DEFINE_string(video, "", "Use a video file instead of the camera. Use `examples/media/video.avi` for our default"
	" example video.");
DEFINE_string(image_dir, "", "Process a directory of images. Use `examples/media/` for our default example folder with 20"
	" images. Read all standard formats (jpg, png, bmp, etc.).");
DEFINE_string(ip_camera, "", "String with the IP camera URL. It supports protocols like RTSP and HTTP.");
DEFINE_uint64(frame_first, 0, "Start on desired frame number. Indexes are 0-based, i.e. the first frame has index 0.");
DEFINE_uint64(frame_last, -1, "Finish on desired frame number. Select -1 to disable. Indexes are 0-based, e.g. if set to"
	" 10, it will process 11 frames (0-10).");
DEFINE_bool(frame_flip, false, "Flip/mirror each frame (e.g. for real time webcam demonstrations).");
DEFINE_int32(frame_rotate, 0, "Rotate each frame, 4 possible values: 0, 90, 180, 270.");
DEFINE_bool(frames_repeat, false, "Repeat frames when finished.");
DEFINE_bool(process_real_time, false, "Enable to keep the original source frame rate (e.g. for video). If the processing time is"
	" too long, it will skip frames. If it is too fast, it will slow it down.");
// OpenPose
DEFINE_string(model_folder, "models/", "Folder path (absolute or relative) where the models (pose, face, ...) are located.");
DEFINE_string(output_resolution, "-1x-1", "The image resolution (display and output). Use \"-1x-1\" to force the program to use the"
	" input image resolution.");
DEFINE_int32(num_gpu, -1, "The number of GPU devices to use. If negative, it will use all the available GPUs in your"
	" machine.");
DEFINE_int32(num_gpu_start, 0, "GPU device start number.");
DEFINE_int32(keypoint_scale, 0, "Scaling of the (x,y) coordinates of the final pose data array, i.e. the scale of the (x,y)"
	" coordinates that will be saved with the `write_keypoint` & `write_keypoint_json` flags."
	" Select `0` to scale it to the original source resolution, `1`to scale it to the net output"
	" size (set with `net_resolution`), `2` to scale it to the final output size (set with"
	" `resolution`), `3` to scale it in the range [0,1], and 4 for range [-1,1]. Non related"
	" with `scale_number` and `scale_gap`.");
DEFINE_bool(identification, false, "Whether to enable people identification across frames. Not available yet, coming soon.");
// OpenPose Body Pose
DEFINE_bool(body_disable, false, "Disable body keypoint detection. Option only possible for faster (but less accurate) face"
	" keypoint detection.");
DEFINE_string(model_pose, "COCO", "Model to be used. E.g. `COCO` (18 keypoints), `MPI` (15 keypoints, ~10% faster), "
	"`MPI_4_layers` (15 keypoints, even faster but less accurate).");
DEFINE_string(net_resolution, "-1x368", "Multiples of 16. If it is increased, the accuracy potentially increases. If it is"
	" decreased, the speed increases. For maximum speed-accuracy balance, it should keep the"
	" closest aspect ratio possible to the images or videos to be processed. Using `-1` in"
	" any of the dimensions, OP will choose the optimal aspect ratio depending on the user's"
	" input value. E.g. the default `-1x368` is equivalent to `656x368` in 16:9 resolutions,"
	" e.g. full HD (1980x1080) and HD (1280x720) resolutions.");
DEFINE_int32(scale_number, 1, "Number of scales to average.");
DEFINE_double(scale_gap, 0.3, "Scale gap between scales. No effect unless scale_number > 1. Initial scale is always 1."
	" If you want to change the initial scale, you actually want to multiply the"
	" `net_resolution` by your desired initial scale.");
// OpenPose Body Pose Heatmaps and Part Candidates
DEFINE_bool(heatmaps_add_parts, false, "If true, it will fill op::Datum::poseHeatMaps array with the body part heatmaps, and"
	" analogously face & hand heatmaps to op::Datum::faceHeatMaps & op::Datum::handHeatMaps."
	" If more than one `add_heatmaps_X` flag is enabled, it will place then in sequential"
	" memory order: body parts + bkg + PAFs. It will follow the order on"
	" POSE_BODY_PART_MAPPING in `src/openpose/pose/poseParameters.cpp`. Program speed will"
	" considerably decrease. Not required for OpenPose, enable it only if you intend to"
	" explicitly use this information later.");
DEFINE_bool(heatmaps_add_bkg, false, "Same functionality as `add_heatmaps_parts`, but adding the heatmap corresponding to"
	" background.");
DEFINE_bool(heatmaps_add_PAFs, false, "Same functionality as `add_heatmaps_parts`, but adding the PAFs.");
DEFINE_int32(heatmaps_scale, 2, "Set 0 to scale op::Datum::poseHeatMaps in the range [-1,1], 1 for [0,1]; 2 for integer"
	" rounded [0,255]; and 3 for no scaling.");
DEFINE_bool(part_candidates, false, "Also enable `write_json` in order to save this information. If true, it will fill the"
	" op::Datum::poseCandidates array with the body part candidates. Candidates refer to all"
	" the detected body parts, before being assembled into people. Note that the number of"
	" candidates is equal or higher than the number of final body parts (i.e. after being"
	" assembled into people). The empty body parts are filled with 0s. Program speed will"
	" slightly decrease. Not required for OpenPose, enable it only if you intend to explicitly"
	" use this information.");
// OpenPose Face
DEFINE_bool(face, false, "Enables face keypoint detection. It will share some parameters from the body pose, e.g."
	" `model_folder`. Note that this will considerable slow down the performance and increse"
	" the required GPU memory. In addition, the greater number of people on the image, the"
	" slower OpenPose will be.");
DEFINE_string(face_net_resolution, "368x368", "Multiples of 16 and squared. Analogous to `net_resolution` but applied to the face keypoint"
	" detector. 320x320 usually works fine while giving a substantial speed up when multiple"
	" faces on the image.");
// OpenPose Hand
DEFINE_bool(hand, false, "Enables hand keypoint detection. It will share some parameters from the body pose, e.g."
	" `model_folder`. Analogously to `--face`, it will also slow down the performance, increase"
	" the required GPU memory and its speed depends on the number of people.");
DEFINE_string(hand_net_resolution, "368x368", "Multiples of 16 and squared. Analogous to `net_resolution` but applied to the hand keypoint"
	" detector.");
DEFINE_int32(hand_scale_number, 1, "Analogous to `scale_number` but applied to the hand keypoint detector. Our best results"
	" were found with `hand_scale_number` = 6 and `hand_scale_range` = 0.4");
DEFINE_double(hand_scale_range, 0.4, "Analogous purpose than `scale_gap` but applied to the hand keypoint detector. Total range"
	" between smallest and biggest scale. The scales will be centered in ratio 1. E.g. if"
	" scaleRange = 0.4 and scalesNumber = 2, then there will be 2 scales, 0.8 and 1.2.");
DEFINE_bool(hand_tracking, false, "Adding hand tracking might improve hand keypoints detection for webcam (if the frame rate"
	" is high enough, i.e. >7 FPS per GPU) and video. This is not person ID tracking, it"
	" simply looks for hands in positions at which hands were located in previous frames, but"
	" it does not guarantee the same person ID among frames");
// OpenPose Rendering
DEFINE_int32(part_to_show, 0, "Prediction channel to visualize (default: 0). 0 for all the body parts, 1-18 for each body"
	" part heat map, 19 for the background heat map, 20 for all the body part heat maps"
	" together, 21 for all the PAFs, 22-40 for each body part pair PAF");
DEFINE_bool(disable_blending, false, "If enabled, it will render the results (keypoint skeletons or heatmaps) on a black"
	" background, instead of being rendered into the original image. Related: `part_to_show`,"
	" `alpha_pose`, and `alpha_pose`.");
// OpenPose Rendering Pose
DEFINE_double(render_threshold, 0.05, "Only estimated keypoints whose score confidences are higher than this threshold will be"
	" rendered. Generally, a high threshold (> 0.5) will only render very clear body parts;"
	" while small thresholds (~0.1) will also output guessed and occluded keypoints, but also"
	" more false positives (i.e. wrong detections).");
DEFINE_int32(render_pose, -1, "Set to 0 for no rendering, 1 for CPU rendering (slightly faster), and 2 for GPU rendering"
	" (slower but greater functionality, e.g. `alpha_X` flags). If -1, it will pick CPU if"
	" CPU_ONLY is enabled, or GPU if CUDA is enabled. If rendering is enabled, it will render"
	" both `outputData` and `cvOutputData` with the original image and desired body part to be"
	" shown (i.e. keypoints, heat maps or PAFs).");
DEFINE_double(alpha_pose, 0.6, "Blending factor (range 0-1) for the body part rendering. 1 will show it completely, 0 will"
	" hide it. Only valid for GPU rendering.");
DEFINE_double(alpha_heatmap, 0.7, "Blending factor (range 0-1) between heatmap and original frame. 1 will only show the"
	" heatmap, 0 will only show the frame. Only valid for GPU rendering.");
// OpenPose Rendering Face
DEFINE_double(face_render_threshold, 0.4, "Analogous to `render_threshold`, but applied to the face keypoints.");
DEFINE_int32(face_render, -1, "Analogous to `render_pose` but applied to the face. Extra option: -1 to use the same"
	" configuration that `render_pose` is using.");
DEFINE_double(face_alpha_pose, 0.6, "Analogous to `alpha_pose` but applied to face.");
DEFINE_double(face_alpha_heatmap, 0.7, "Analogous to `alpha_heatmap` but applied to face.");
// OpenPose Rendering Hand
DEFINE_double(hand_render_threshold, 0.2, "Analogous to `render_threshold`, but applied to the hand keypoints.");
DEFINE_int32(hand_render, -1, "Analogous to `render_pose` but applied to the hand. Extra option: -1 to use the same"
	" configuration that `render_pose` is using.");
DEFINE_double(hand_alpha_pose, 0.6, "Analogous to `alpha_pose` but applied to hand.");
DEFINE_double(hand_alpha_heatmap, 0.7, "Analogous to `alpha_heatmap` but applied to hand.");
// Display
DEFINE_bool(fullscreen, false, "Run in full-screen mode (press f during runtime to toggle).");
DEFINE_bool(no_gui_verbose, false, "Do not write text on output images on GUI (e.g. number of current frame and people). It"
	" does not affect the pose rendering.");
DEFINE_bool(no_display, false, "Do not open a display window. Useful if there is no X server and/or to slightly speed up"
	" the processing if visual output is not required.");
// Result Saving
DEFINE_string(write_images, "", "Directory to write rendered frames in `write_images_format` image format.");
DEFINE_string(write_images_format, "png", "File extension and format for `write_images`, e.g. png, jpg or bmp. Check the OpenCV"
	" function cv::imwrite for all compatible extensions.");
DEFINE_string(write_video, "", "Full file path to write rendered frames in motion JPEG video format. It might fail if the"
	" final path does not finish in `.avi`. It internally uses cv::VideoWriter.");
DEFINE_string(write_json, "", "Directory to write OpenPose output in JSON format. It includes body, hand, and face pose"
	" keypoints, as well as pose candidates (if `--part_candidates` enabled).");
DEFINE_string(write_coco_json, "", "Full file path to write people pose data with JSON COCO validation format.");
DEFINE_string(write_heatmaps, "", "Directory to write body pose heatmaps in PNG format. At least 1 `add_heatmaps_X` flag"
	" must be enabled.");
DEFINE_string(write_heatmaps_format, "png", "File extension and format for `write_heatmaps`, analogous to `write_images_format`."
	" For lossless compression, recommended `png` for integer `heatmaps_scale` and `float` for"
	" floating values.");
DEFINE_string(write_keypoint, "", "(Deprecated, use `write_json`) Directory to write the people pose keypoint data. Set format"
	" with `write_keypoint_format`.");
DEFINE_string(write_keypoint_format, "yml", "(Deprecated, use `write_json`) File extension and format for `write_keypoint`: json, xml,"
	" yaml & yml. Json not available for OpenCV < 3.0, use `write_keypoint_json` instead.");
DEFINE_string(write_keypoint_json, "", "(Deprecated, use `write_json`) Directory to write people pose data in JSON format,"
	" compatible with any OpenCV version.");

int openPoseDemo()
{
	// logging_level
	op::check(0 <= FLAGS_logging_level && FLAGS_logging_level <= 255, "Wrong logging_level value.",
		__LINE__, __FUNCTION__, __FILE__);
	op::ConfigureLog::setPriorityThreshold((op::Priority)FLAGS_logging_level);
	op::Profiler::setDefaultX(FLAGS_profile_speed);
	// // For debugging
	// // Print all logging messages
	// op::ConfigureLog::setPriorityThreshold(op::Priority::None);
	// // Print out speed values faster
	// op::Profiler::setDefaultX(100);

	//op::log("Starting pose estimation demo.", op::Priority::High);
	const auto timerBegin = std::chrono::high_resolution_clock::now();

	// Applying user defined configuration - Google flags to program variables
	// outputSize
	const auto outputSize = op::flagsToPoint(FLAGS_output_resolution, "-1x-1");
	// netInputSize
	const auto netInputSize = op::flagsToPoint(FLAGS_net_resolution, "-1x368");
	// faceNetInputSize
	const auto faceNetInputSize = op::flagsToPoint(FLAGS_face_net_resolution, "368x368 (multiples of 16)");
	// handNetInputSize
	const auto handNetInputSize = op::flagsToPoint(FLAGS_hand_net_resolution, "368x368 (multiples of 16)");
	// producerType
	const auto producerSharedPtr = op::flagsToProducer(FLAGS_image_dir, FLAGS_video, FLAGS_ip_camera, FLAGS_camera,
		FLAGS_camera_resolution, FLAGS_camera_fps);
	// poseModel
	const auto poseModel = op::flagsToPoseModel(FLAGS_model_pose);
	// JSON saving
	const auto writeJson = (!FLAGS_write_json.empty() ? FLAGS_write_json : FLAGS_write_keypoint_json);
	if (!FLAGS_write_keypoint.empty() || !FLAGS_write_keypoint_json.empty())
		return 0;
		//op::log("Flags `write_keypoint` and `write_keypoint_json` are deprecated and will eventually be removed."
			//" Please, use `write_json` instead.", op::Priority::Max);
	// keypointScale
	const auto keypointScale = op::flagsToScaleMode(FLAGS_keypoint_scale);
	// heatmaps to add
	const auto heatMapTypes = op::flagsToHeatMaps(FLAGS_heatmaps_add_parts, FLAGS_heatmaps_add_bkg,
		FLAGS_heatmaps_add_PAFs);
	const auto heatMapScale = op::flagsToHeatMapScaleMode(FLAGS_heatmaps_scale);
	// Enabling Google Logging
	const bool enableGoogleLogging = true;
	// Logging
	//op::log("", op::Priority::Low, __LINE__, __FUNCTION__, __FILE__);

	// OpenPose wrapper
	//op::log("Configuring OpenPose wrapper.", op::Priority::Low, __LINE__, __FUNCTION__, __FILE__);
	op::Wrapper<std::vector<op::Datum>> opWrapper;
	// Pose configuration (use WrapperStructPose{} for default and recommended configuration)
	const op::WrapperStructPose wrapperStructPose{ !FLAGS_body_disable, netInputSize, outputSize, keypointScale,
		FLAGS_num_gpu, FLAGS_num_gpu_start, FLAGS_scale_number,
		(float)FLAGS_scale_gap, op::flagsToRenderMode(FLAGS_render_pose),
		poseModel, !FLAGS_disable_blending, (float)FLAGS_alpha_pose,
		(float)FLAGS_alpha_heatmap, FLAGS_part_to_show, FLAGS_model_folder,
		heatMapTypes, heatMapScale, FLAGS_part_candidates,
		(float)FLAGS_render_threshold, enableGoogleLogging,
		FLAGS_identification };
	// Face configuration (use op::WrapperStructFace{} to disable it)
	const op::WrapperStructFace wrapperStructFace{ FLAGS_face, faceNetInputSize,
		op::flagsToRenderMode(FLAGS_face_render, FLAGS_render_pose),
		(float)FLAGS_face_alpha_pose, (float)FLAGS_face_alpha_heatmap,
		(float)FLAGS_face_render_threshold };
	// Hand configuration (use op::WrapperStructHand{} to disable it)
	const op::WrapperStructHand wrapperStructHand{ FLAGS_hand, handNetInputSize, FLAGS_hand_scale_number,
		(float)FLAGS_hand_scale_range, FLAGS_hand_tracking,
		op::flagsToRenderMode(FLAGS_hand_render, FLAGS_render_pose),
		(float)FLAGS_hand_alpha_pose, (float)FLAGS_hand_alpha_heatmap,
		(float)FLAGS_hand_render_threshold };
	// Producer (use default to disable any input)
	const op::WrapperStructInput wrapperStructInput{ producerSharedPtr, FLAGS_frame_first, FLAGS_frame_last,
		FLAGS_process_real_time, FLAGS_frame_flip, FLAGS_frame_rotate,
		FLAGS_frames_repeat };
	// Consumer (comment or use default argument to disable any output)
	const op::WrapperStructOutput wrapperStructOutput{ !FLAGS_no_display, !FLAGS_no_gui_verbose, FLAGS_fullscreen,
		FLAGS_write_keypoint,
		op::stringToDataFormat(FLAGS_write_keypoint_format),
		writeJson, FLAGS_write_coco_json,
		FLAGS_write_images, FLAGS_write_images_format, FLAGS_write_video,
		FLAGS_write_heatmaps, FLAGS_write_heatmaps_format };
	// Configure wrapper
	opWrapper.configure(wrapperStructPose, wrapperStructFace, wrapperStructHand, wrapperStructInput,
		wrapperStructOutput);
	// Set to single-thread running (to debug and/or reduce latency)
	if (FLAGS_disable_multi_thread)
		opWrapper.disableMultiThreading();

	// Start processing
	// Two different ways of running the program on multithread environment
	//op::log("Starting thread(s)", op::Priority::High);
	// Option a) Recommended - Also using the main thread (this thread) for processing (it saves 1 thread)
	// Start, run & stop threads
	opWrapper.exec();  // It blocks this thread until all threads have finished

					   // // Option b) Keeping this thread free in case you want to do something else meanwhile, e.g. profiling the GPU
					   // memory
					   // // VERY IMPORTANT NOTE: if OpenCV is compiled with Qt support, this option will not work. Qt needs the main
					   // // thread to plot visual results, so the final GUI (which uses OpenCV) would return an exception similar to:
					   // // `QMetaMethod::invoke: Unable to invoke methods with return values in queued connections`
					   // // Start threads
					   // opWrapper.start();
					   // // Profile used GPU memory
					   //     // 1: wait ~10sec so the memory has been totally loaded on GPU
					   //     // 2: profile the GPU memory
					   // const auto sleepTimeMs = 10;
					   // for (auto i = 0 ; i < 10000/sleepTimeMs && opWrapper.isRunning() ; i++)
					   //     std::this_thread::sleep_for(std::chrono::milliseconds{sleepTimeMs});
					   // op::Profiler::profileGpuMemory(__LINE__, __FUNCTION__, __FILE__);
					   // // Keep program alive while running threads
					   // while (opWrapper.isRunning())
					   //     std::this_thread::sleep_for(std::chrono::milliseconds{sleepTimeMs});
					   // // Stop and join threads
					   // op::log("Stopping thread(s)", op::Priority::High);
					   // opWrapper.stop();

					   // Measuring total time
	const auto now = std::chrono::high_resolution_clock::now();
	const auto totalTimeSec = (double)std::chrono::duration_cast<std::chrono::nanoseconds>(now - timerBegin).count()
		* 1e-9;
	const auto message = "Real-time pose estimation demo successfully finished. Total time: "
		+ std::to_string(totalTimeSec) + " seconds.";
	op::log(message, op::Priority::High);

	return 0;
}

